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#include "USBLSensor.hpp"
#include "UWSimUtils.h"

#include <osg/io_utils>

#include <boost/random/normal_distribution.hpp>
#include <boost/random/variate_generator.hpp>

std::pair<int,osg::Vec3d> USBLSensor::getMeasurement()
{
	//Should get world coords and then transform to the localizedWorld
	//osg::Matrixd *rMs=getWorldCoords(node_);
	//osg::Matrixd lMs=*rMs*osg::Matrixd::inverse(rMl_);

	if (transponders.size() == 0) return std::make_pair(0,osg::Vec3d());

	findNode.setNameToFind(transponders[nextId]);
	oscene_->getScene()->accept(findNode);
	nodeListType& list = findNode.getNodeList();
	if (list.size() == 0)
	{
		std::cerr<<"No node found."<<std::endl;
		return std::make_pair(0,osg::Vec3d());
	}

	if (list.size() > 1)
	{
		std::cerr<<"Node ambiguity for name: '" + transponders[nextId] +"'"<<std::endl;
	}

	//Does one Id per interrogation
	int retId = nextId;
	nextId = (nextId+1) % transponders.size();

	//Use absolute frame, the USBL has it's own compass
	osg::Matrixd *rMsSensor=getWorldCoords(node_);
	osg::Matrixd lMsSensor=*rMsSensor;//*osg::Matrixd::inverse(rMl_);

	osg::Matrixd* rMs=getWorldCoords(list[0]);
	osg::Matrixd lMs=*rMs;//*osg::Matrixd::inverse(rMl_);
	//Now add some gaussian noise
	static boost::normal_distribution<> normal(0,std_);
	static boost::variate_generator<boost::mt19937&, boost::normal_distribution<> > var_nor(rng_, normal);

	osg::Vec3d relPos = lMs.getTrans();// - lMsSensor.getTrans();
	///\todo Inspect transformations to avoid: reverse depth quick fix
	double temp = relPos[0];
	relPos[0] = relPos[1];
	relPos[1] = temp;
	relPos[2] *=-1;

	return std::make_pair(retId,relPos + osg::Vec3d(var_nor(), var_nor(), var_nor()));
}
